Morse’s agent, David Shaul, confirmed that Morse died at his home after a brief illness, The Associated Press reported.
Morse first rose to fame on Broadway in the 1950s and originated the role of J. Pierrepont Finch in 1961′s “How to Succeed in Business Without Really Trying,” CNN reported. Morse won a Tony Award for his performance, and reprised the role in the 1967 film adaptation of the same name.
Morse won a second Tony Award for his portrayal of the writer Truman Capote in the one-man show “Tru” in 1990, The New York Times reported.
Morse was likely best known for his work in the television series “Mad Men,” on which he appeared from 2007-2015, playing the role of Bertram Cooper, the eccentric leader of an advertising agency. Morse was nominated for Emmy Awards five times while playing the role, and in 2010 shared the SAG award that was given to the “Mad Men” cast for outstanding performance by an ensemble in a drama series, Variety reported.
The Mad Men Twitter account honored Morse with a post saying, “Robert Morse was one of the greats. Rest In Peace.”
“He radiated a wicked joy; it was impossible to watch him without instantly sharing his giddy delight,” wrote playwright Paul Rudnick, the AP reported.
In a 1989 interview with the New York Times, Morse said: “Things change. I never got a chance to be in a play or a picture where I played a father, or had a family, or where I could feel or show something. The wild child in me never had a chance to grow up,” the AP reported.
Morse is survived by his wife, five children, and five grandchildren, The New York Times reported.
FILE – Robert Morse appears at the live read and series finale of "Mad Men" held in Los Angeles on May 17, 2015. Morse, who won a Tony Award as a hilariously brash corporate climber in “How to Succeed in Business Without Really Trying” and a second one a generation later as the brilliant, troubled Truman Capote in “Tru,” died peacefully at his home on Wednesday, April 20, at the age of 90. (Photo by Richard Shotwell/Invision/AP, File)
LOS ANGELES, CA – SEPTEMBER 18: Actor Robert Morse arrives at the 63rd Annual Primetime Emmy Awards held at Nokia Theatre L.A. LIVE on September 18, 2011 in Los Angeles, California. (Photo by Frazer Harrison/Getty Images)
LOS ANGELES, CA – JANUARY 30: Actor Robert Morse attends the 17th Annual Screen Actors Guild Awards held at The Shrine Auditorium on January 30, 2011 in Los Angeles, California. (Photo by Kevin Winter/Getty Images)
BEVERLY HILLS, CA – FEBRUARY 18: (L-R) Robert Morse, Clint Eastwood and Leo Trombetta pose in the press room at the 62nd Annual ACE Eddie Awards at The Beverly Hilton hotel on February 18, 2012 in Beverly Hills, California. (Photo by Valerie Macon/Getty Images)
BEVERLY HILLS, CA – MARCH 26: Actors John Stamos (L) and Robert Morse perform onstage at the 22nd A Night At Sardi’s at The Beverly Hilton Hotel on March 26, 2014 in Beverly Hills, California. (Photo by Imeh Akpanudosen/Getty Images)
NEW YORK, NY – JUNE 12: Robert Morse attends the 65th Annual Tony Awards at the Beacon Theatre on June 12, 2011 in New York City. (Photo by Jason Kempin/Getty Images)
BEVERLY HILLS, CA – MARCH 18: Actor Robert Morse performs at the 23rd Annual "A Night at Sardi’s" to benefit the Alzheimer’s Association at the Beverly Hilton Hotel on March 18, 2015 in Beverly Hills, California. (Photo by Kevin Winter/Getty Images)
NEW YORK, NY – JUNE 12: Robert Morse (L) and Matthew Broderick speak on stage during the 65th Annual Tony Awards at the Beacon Theatre on June 12, 2011 in New York City. (Photo by Andrew H. Walker/Getty Images)
LOS ANGELES, CA – MAY 01: Director John Slattery and actor Robert Morse arrive at the premiere of IFC Films’ ‘God’s Pocket’ at LACMA on May 1, 2014 in Los Angeles, California. (Photo by Angela Weiss/Getty Images)
HOLLYWOOD, CA – MARCH 26: (L-R) Actors Michael Tucci, Barry Pearl and Robert Morse attend the 2015 TCM Classic Film Festival Opening Night Gala 50th anniversary screening of "The Sound Of Music" at TCL Chinese Theatre IMAX on March 26, 2015 in Hollywood, California. (Photo by David Buchan/Getty Images)
LOS ANGELES, CA – MARCH 25: Series creator Matthew Weiner (L) and actor Robert Morse attend the AMC celebration of the final 7 episodes of "Mad Men" with the Black & Red Ball at the Dorothy Chandler Pavilion on March 25, 2015 in Los Angeles, California. (Photo by Alberto E. Rodriguez/Getty Images)
WEST HOLLYWOOD, CA – OCTOBER 22: Actor Robert Morse attends The Paley Center for Media’s Annual Los Angeles Benefit at The Rooftop Of The Lot on October 22, 2012 in West Hollywood, California. (Photo by Frederick M. Brown/Getty Images)
LOS ANGELES, CA – SEPTEMBER 10: Robert Morse attends the 2011 Primetime Creative Arts Emmy Awards at Nokia Theatre on September 10, 2011 in Los Angeles, California. (Photo by Noel Vasquez/Getty Images)
LOS ANGELES, CA – SEPTEMBER 22: Actors Kiernan Shipka (L) and Robert Morse arrive at the 65th Annual Primetime Emmy Awards held at Nokia Theatre L.A. Live on September 22, 2013 in Los Angeles, California. (Photo by Frazer Harrison/Getty Images)
HOLLYWOOD, CA – MARCH 21: Actors Christina Hendricks, Robert Morse, Jessica Pare and Kiernan Shipka on stage at The Paley Center For Media’s PaleyFest 2014 Honoring "Mad Men" at Dolby Theatre on March 21, 2014 in Hollywood, California. (Photo by Frazer Harrison/Getty Images)
LOS ANGELES, CA – AUGUST 25: Actor Robert Morse attends the 66th Annual Primetime Emmy Awards held at Nokia Theatre L.A. Live on August 25, 2014 in Los Angeles, California. (Photo by Frazer Harrison/Getty Images)
FILE – Robert Morse, a cast member in "Mad Men," appears at the season six premiere of the drama series at the Directors Guild of America in Los Angeles on March 20, 2013. Morse, who won a Tony Award as a hilariously brash corporate climber in “How to Succeed in Business Without Really Trying” and a second one a generation later as the brilliant, troubled Truman Capote in “Tru,” died peacefully at his home on Wednesday, April 20, at the age of 90. (Photo by Chris Pizzello/Invision/AP, File)
HOLLYWOOD, CA – MARCH 21: Actor Robert Morse arrives at The Paley Center For Media’s PaleyFest 2014 Honoring "Mad Men" at Dolby Theatre on March 21, 2014 in Hollywood, California. (Photo by Frazer Harrison/Getty Images)
FILE – Tony Award winners, from left to right, James Naughton, best actor in "City of Angels," Maggie Smith, best actress for "Lettice and Lovage," Tyne Daly, best actress for "Gypsy," and Robert Morse, best actor for "Iru" pose with their trophies in New York on June 3, 1990. Morse, who won a Tony Award as a hilariously brash corporate climber in “How to Succeed in Business Without Really Trying” and a second one a generation later as the brilliant, troubled Truman Capote in “Tru,” died peacefully at his home on Wednesday, April 20, at the age of 90. (AP Photo/Richard Drew, File)
FILE – Robert Morse, left, and Carol Channing appear during a rehearsal for the road company production of "Sugar Babies" in New York on July 18, 1977. Morse, who won a Tony Award as a hilariously brash corporate climber in “How to Succeed in Business Without Really Trying” and a second one a generation later as the brilliant, troubled Truman Capote in “Tru,” died peacefully at his home on Wednesday, April 20, at the age of 90. (AP Photo/Marty Lederhandler, File)